The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 13, 2016
Filed:
Jul. 15, 2014
Canon Kabushiki Kaisha, Tokyo, JP;
Shingo Amano, Kawasaki, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A control apparatus calculates a calibration value based on a position in the robot coordinate systemand a position in the vision coordinate system, for at least three teaching points set within a calibration area. Markersof two of the three teaching points have the same inclination in relation to an optical axis of a cameraas a visual sensor, and the two points are placed on different positions of the same plane normal to the optical axis. The remaining one of the three teaching points other than the two points is set such that the inclination of the markerin relation to the optical axis is different from that of the two points. As a result, influence of a large quantization error in the optical axis direction as a measurement error of the cameracan be reduced.